1 | #include <LSM303.h>
|
---|
2 | #include <Wire.h>
|
---|
3 | #include <math.h>
|
---|
4 |
|
---|
5 | // Defines ////////////////////////////////////////////////////////////////
|
---|
6 |
|
---|
7 | // The Arduino two-wire interface uses a 7-bit number for the address,
|
---|
8 | // and sets the last bit correctly based on reads and writes
|
---|
9 | #define D_SA0_HIGH_ADDRESS 0b0011101
|
---|
10 | #define D_SA0_LOW_ADDRESS 0b0011110
|
---|
11 | #define DLHC_DLM_DLH_MAG_ADDRESS 0b0011110
|
---|
12 | #define DLHC_DLM_DLH_ACC_SA0_HIGH_ADDRESS 0b0011001
|
---|
13 | #define DLM_DLH_ACC_SA0_LOW_ADDRESS 0b0011000
|
---|
14 |
|
---|
15 | #define TEST_REG_ERROR -1
|
---|
16 |
|
---|
17 | #define D_WHO_ID 0x49
|
---|
18 | #define DLM_WHO_ID 0x3C
|
---|
19 |
|
---|
20 | // Constructors ////////////////////////////////////////////////////////////////
|
---|
21 |
|
---|
22 | LSM303::LSM303(void)
|
---|
23 | {
|
---|
24 | /*
|
---|
25 | These values lead to an assumed magnetometer bias of 0.
|
---|
26 | Use the Calibrate example program to determine appropriate values
|
---|
27 | for your particular unit. The Heading example demonstrates how to
|
---|
28 | adjust these values in your own sketch.
|
---|
29 | */
|
---|
30 | m_min = (LSM303::vector<int16_t>){-32767, -32767, -32767};
|
---|
31 | m_max = (LSM303::vector<int16_t>){+32767, +32767, +32767};
|
---|
32 |
|
---|
33 | _device = device_auto;
|
---|
34 |
|
---|
35 | io_timeout = 0; // 0 = no timeout
|
---|
36 | did_timeout = false;
|
---|
37 | }
|
---|
38 |
|
---|
39 | // Public Methods //////////////////////////////////////////////////////////////
|
---|
40 |
|
---|
41 | // Did a timeout occur in readAcc(), readMag(), or read() since the last call to timeoutOccurred()?
|
---|
42 | bool LSM303::timeoutOccurred()
|
---|
43 | {
|
---|
44 | bool tmp = did_timeout;
|
---|
45 | did_timeout = false;
|
---|
46 | return tmp;
|
---|
47 | }
|
---|
48 |
|
---|
49 | void LSM303::setTimeout(unsigned int timeout)
|
---|
50 | {
|
---|
51 | io_timeout = timeout;
|
---|
52 | }
|
---|
53 |
|
---|
54 | unsigned int LSM303::getTimeout()
|
---|
55 | {
|
---|
56 | return io_timeout;
|
---|
57 | }
|
---|
58 |
|
---|
59 | bool LSM303::init(deviceType device, sa0State sa0)
|
---|
60 | {
|
---|
61 | // perform auto-detection unless device type and SA0 state were both specified
|
---|
62 | if (device == device_auto || sa0 == sa0_auto)
|
---|
63 | {
|
---|
64 | // check for LSM303D if device is unidentified or was specified to be this type
|
---|
65 | if (device == device_auto || device == device_D)
|
---|
66 | {
|
---|
67 | // check SA0 high address unless SA0 was specified to be low
|
---|
68 | if (sa0 != sa0_low && testReg(D_SA0_HIGH_ADDRESS, WHO_AM_I) == D_WHO_ID)
|
---|
69 | {
|
---|
70 | // device responds to address 0011101 with D ID; it's a D with SA0 high
|
---|
71 | device = device_D;
|
---|
72 | sa0 = sa0_high;
|
---|
73 | }
|
---|
74 | // check SA0 low address unless SA0 was specified to be high
|
---|
75 | else if (sa0 != sa0_high && testReg(D_SA0_LOW_ADDRESS, WHO_AM_I) == D_WHO_ID)
|
---|
76 | {
|
---|
77 | // device responds to address 0011110 with D ID; it's a D with SA0 low
|
---|
78 | device = device_D;
|
---|
79 | sa0 = sa0_low;
|
---|
80 | }
|
---|
81 | }
|
---|
82 |
|
---|
83 | // check for LSM303DLHC, DLM, DLH if device is still unidentified or was specified to be one of these types
|
---|
84 | if (device == device_auto || device == device_DLHC || device == device_DLM || device == device_DLH)
|
---|
85 | {
|
---|
86 | // check SA0 high address unless SA0 was specified to be low
|
---|
87 | if (sa0 != sa0_low && testReg(DLHC_DLM_DLH_ACC_SA0_HIGH_ADDRESS, CTRL_REG1_A) != TEST_REG_ERROR)
|
---|
88 | {
|
---|
89 | // device responds to address 0011001; it's a DLHC, DLM with SA0 high, or DLH with SA0 high
|
---|
90 | sa0 = sa0_high;
|
---|
91 | if (device == device_auto)
|
---|
92 | {
|
---|
93 | // use magnetometer WHO_AM_I register to determine device type
|
---|
94 | //
|
---|
95 | // DLHC seems to respond to WHO_AM_I request the same way as DLM, even though this
|
---|
96 | // register isn't documented in its datasheet. Since the DLHC accelerometer address is the
|
---|
97 | // same as the DLM with SA0 high, but Pololu DLM boards pull SA0 low by default, we'll
|
---|
98 | // guess that a device whose accelerometer responds to the SA0 high address and whose
|
---|
99 | // magnetometer gives the DLM ID is actually a DLHC.
|
---|
100 | device = (testReg(DLHC_DLM_DLH_MAG_ADDRESS, WHO_AM_I_M) == DLM_WHO_ID) ? device_DLHC : device_DLH;
|
---|
101 | }
|
---|
102 | }
|
---|
103 | // check SA0 low address unless SA0 was specified to be high
|
---|
104 | else if (sa0 != sa0_high && testReg(DLM_DLH_ACC_SA0_LOW_ADDRESS, CTRL_REG1_A) != TEST_REG_ERROR)
|
---|
105 | {
|
---|
106 | // device responds to address 0011000; it's a DLM with SA0 low or DLH with SA0 low
|
---|
107 | sa0 = sa0_low;
|
---|
108 | if (device == device_auto)
|
---|
109 | {
|
---|
110 | // use magnetometer WHO_AM_I register to determine device type
|
---|
111 | device = (testReg(DLHC_DLM_DLH_MAG_ADDRESS, WHO_AM_I_M) == DLM_WHO_ID) ? device_DLM : device_DLH;
|
---|
112 | }
|
---|
113 | }
|
---|
114 | }
|
---|
115 |
|
---|
116 | // make sure device and SA0 were successfully detected; otherwise, indicate failure
|
---|
117 | if (device == device_auto || sa0 == sa0_auto)
|
---|
118 | {
|
---|
119 | return false;
|
---|
120 | }
|
---|
121 | }
|
---|
122 |
|
---|
123 | _device = device;
|
---|
124 |
|
---|
125 | // set device addresses and translated register addresses
|
---|
126 | switch (device)
|
---|
127 | {
|
---|
128 | case device_D:
|
---|
129 | acc_address = mag_address = (sa0 == sa0_high) ? D_SA0_HIGH_ADDRESS : D_SA0_LOW_ADDRESS;
|
---|
130 | translated_regs[-OUT_X_L_M] = D_OUT_X_L_M;
|
---|
131 | translated_regs[-OUT_X_H_M] = D_OUT_X_H_M;
|
---|
132 | translated_regs[-OUT_Y_L_M] = D_OUT_Y_L_M;
|
---|
133 | translated_regs[-OUT_Y_H_M] = D_OUT_Y_H_M;
|
---|
134 | translated_regs[-OUT_Z_L_M] = D_OUT_Z_L_M;
|
---|
135 | translated_regs[-OUT_Z_H_M] = D_OUT_Z_H_M;
|
---|
136 | break;
|
---|
137 |
|
---|
138 | case device_DLHC:
|
---|
139 | acc_address = DLHC_DLM_DLH_ACC_SA0_HIGH_ADDRESS; // DLHC doesn't have configurable SA0 but uses same acc address as DLM/DLH with SA0 high
|
---|
140 | mag_address = DLHC_DLM_DLH_MAG_ADDRESS;
|
---|
141 | translated_regs[-OUT_X_H_M] = DLHC_OUT_X_H_M;
|
---|
142 | translated_regs[-OUT_X_L_M] = DLHC_OUT_X_L_M;
|
---|
143 | translated_regs[-OUT_Y_H_M] = DLHC_OUT_Y_H_M;
|
---|
144 | translated_regs[-OUT_Y_L_M] = DLHC_OUT_Y_L_M;
|
---|
145 | translated_regs[-OUT_Z_H_M] = DLHC_OUT_Z_H_M;
|
---|
146 | translated_regs[-OUT_Z_L_M] = DLHC_OUT_Z_L_M;
|
---|
147 | break;
|
---|
148 |
|
---|
149 | case device_DLM:
|
---|
150 | acc_address = (sa0 == sa0_high) ? DLHC_DLM_DLH_ACC_SA0_HIGH_ADDRESS : DLM_DLH_ACC_SA0_LOW_ADDRESS;
|
---|
151 | mag_address = DLHC_DLM_DLH_MAG_ADDRESS;
|
---|
152 | translated_regs[-OUT_X_H_M] = DLM_OUT_X_H_M;
|
---|
153 | translated_regs[-OUT_X_L_M] = DLM_OUT_X_L_M;
|
---|
154 | translated_regs[-OUT_Y_H_M] = DLM_OUT_Y_H_M;
|
---|
155 | translated_regs[-OUT_Y_L_M] = DLM_OUT_Y_L_M;
|
---|
156 | translated_regs[-OUT_Z_H_M] = DLM_OUT_Z_H_M;
|
---|
157 | translated_regs[-OUT_Z_L_M] = DLM_OUT_Z_L_M;
|
---|
158 | break;
|
---|
159 |
|
---|
160 | case device_DLH:
|
---|
161 | acc_address = (sa0 == sa0_high) ? DLHC_DLM_DLH_ACC_SA0_HIGH_ADDRESS : DLM_DLH_ACC_SA0_LOW_ADDRESS;
|
---|
162 | mag_address = DLHC_DLM_DLH_MAG_ADDRESS;
|
---|
163 | translated_regs[-OUT_X_H_M] = DLH_OUT_X_H_M;
|
---|
164 | translated_regs[-OUT_X_L_M] = DLH_OUT_X_L_M;
|
---|
165 | translated_regs[-OUT_Y_H_M] = DLH_OUT_Y_H_M;
|
---|
166 | translated_regs[-OUT_Y_L_M] = DLH_OUT_Y_L_M;
|
---|
167 | translated_regs[-OUT_Z_H_M] = DLH_OUT_Z_H_M;
|
---|
168 | translated_regs[-OUT_Z_L_M] = DLH_OUT_Z_L_M;
|
---|
169 | break;
|
---|
170 | }
|
---|
171 |
|
---|
172 | return true;
|
---|
173 | }
|
---|
174 |
|
---|
175 | /*
|
---|
176 | Enables the LSM303's accelerometer and magnetometer. Also:
|
---|
177 | - Sets sensor full scales (gain) to default power-on values, which are
|
---|
178 | +/- 2 g for accelerometer and +/- 1.3 gauss for magnetometer
|
---|
179 | (+/- 4 gauss on LSM303D).
|
---|
180 | - Selects 50 Hz ODR (output data rate) for accelerometer and 7.5 Hz
|
---|
181 | ODR for magnetometer (6.25 Hz on LSM303D). (These are the ODR
|
---|
182 | settings for which the electrical characteristics are specified in
|
---|
183 | the datasheets.)
|
---|
184 | - Enables high resolution modes (if available).
|
---|
185 | Note that this function will also reset other settings controlled by
|
---|
186 | the registers it writes to.
|
---|
187 | */
|
---|
188 | void LSM303::enableDefault(void)
|
---|
189 | {
|
---|
190 |
|
---|
191 | if (_device == device_D)
|
---|
192 | {
|
---|
193 | // Accelerometer
|
---|
194 |
|
---|
195 | // 0x00 = 0b00000000
|
---|
196 | // AFS = 0 (+/- 2 g full scale)
|
---|
197 | writeReg(CTRL2, 0x00);
|
---|
198 |
|
---|
199 | // 0x57 = 0b01010111
|
---|
200 | // AODR = 0101 (50 Hz ODR); AZEN = AYEN = AXEN = 1 (all axes enabled)
|
---|
201 | writeReg(CTRL1, 0x57);
|
---|
202 |
|
---|
203 | // Magnetometer
|
---|
204 |
|
---|
205 | // 0x64 = 0b01100100
|
---|
206 | // M_RES = 11 (high resolution mode); M_ODR = 001 (6.25 Hz ODR)
|
---|
207 | writeReg(CTRL5, 0x64);
|
---|
208 |
|
---|
209 | // 0x20 = 0b00100000
|
---|
210 | // MFS = 01 (+/- 4 gauss full scale)
|
---|
211 | writeReg(CTRL6, 0x20);
|
---|
212 |
|
---|
213 | // 0x00 = 0b00000000
|
---|
214 | // MLP = 0 (low power mode off); MD = 00 (continuous-conversion mode)
|
---|
215 | writeReg(CTRL7, 0x00);
|
---|
216 | }
|
---|
217 | else
|
---|
218 | {
|
---|
219 | // Accelerometer
|
---|
220 |
|
---|
221 | if (_device == device_DLHC)
|
---|
222 | {
|
---|
223 | // 0x08 = 0b00001000
|
---|
224 | // FS = 00 (+/- 2 g full scale); HR = 1 (high resolution enable)
|
---|
225 | writeAccReg(CTRL_REG4_A, 0x08);
|
---|
226 |
|
---|
227 | // 0x47 = 0b01000111
|
---|
228 | // ODR = 0100 (50 Hz ODR); LPen = 0 (normal mode); Zen = Yen = Xen = 1 (all axes enabled)
|
---|
229 | writeAccReg(CTRL_REG1_A, 0x47);
|
---|
230 | }
|
---|
231 | else // DLM, DLH
|
---|
232 | {
|
---|
233 | // 0x00 = 0b00000000
|
---|
234 | // FS = 00 (+/- 2 g full scale)
|
---|
235 | writeAccReg(CTRL_REG4_A, 0x00);
|
---|
236 |
|
---|
237 | // 0x27 = 0b00100111
|
---|
238 | // PM = 001 (normal mode); DR = 00 (50 Hz ODR); Zen = Yen = Xen = 1 (all axes enabled)
|
---|
239 | writeAccReg(CTRL_REG1_A, 0x27);
|
---|
240 | }
|
---|
241 |
|
---|
242 | // Magnetometer
|
---|
243 |
|
---|
244 | // 0x0C = 0b00001100
|
---|
245 | // DO = 011 (7.5 Hz ODR)
|
---|
246 | writeMagReg(CRA_REG_M, 0x0C);
|
---|
247 |
|
---|
248 | // 0x20 = 0b00100000
|
---|
249 | // GN = 001 (+/- 1.3 gauss full scale)
|
---|
250 | writeMagReg(CRB_REG_M, 0x20);
|
---|
251 |
|
---|
252 | // 0x00 = 0b00000000
|
---|
253 | // MD = 00 (continuous-conversion mode)
|
---|
254 | writeMagReg(MR_REG_M, 0x00);
|
---|
255 | }
|
---|
256 | }
|
---|
257 |
|
---|
258 | // Writes an accelerometer register
|
---|
259 | void LSM303::writeAccReg(byte reg, byte value)
|
---|
260 | {
|
---|
261 | Wire.beginTransmission(acc_address);
|
---|
262 | Wire.write(reg);
|
---|
263 | Wire.write(value);
|
---|
264 | last_status = Wire.endTransmission();
|
---|
265 | }
|
---|
266 |
|
---|
267 | // Reads an accelerometer register
|
---|
268 | byte LSM303::readAccReg(byte reg)
|
---|
269 | {
|
---|
270 | byte value;
|
---|
271 |
|
---|
272 | Wire.beginTransmission(acc_address);
|
---|
273 | Wire.write(reg);
|
---|
274 | last_status = Wire.endTransmission();
|
---|
275 | Wire.requestFrom(acc_address, (byte)1);
|
---|
276 | value = Wire.read();
|
---|
277 | Wire.endTransmission();
|
---|
278 |
|
---|
279 | return value;
|
---|
280 | }
|
---|
281 |
|
---|
282 | // Writes a magnetometer register
|
---|
283 | void LSM303::writeMagReg(byte reg, byte value)
|
---|
284 | {
|
---|
285 | Wire.beginTransmission(mag_address);
|
---|
286 | Wire.write(reg);
|
---|
287 | Wire.write(value);
|
---|
288 | last_status = Wire.endTransmission();
|
---|
289 | }
|
---|
290 |
|
---|
291 | // Reads a magnetometer register
|
---|
292 | byte LSM303::readMagReg(int reg)
|
---|
293 | {
|
---|
294 | byte value;
|
---|
295 |
|
---|
296 | // if dummy register address (magnetometer Y/Z), look up actual translated address (based on device type)
|
---|
297 | if (reg < 0)
|
---|
298 | {
|
---|
299 | reg = translated_regs[-reg];
|
---|
300 | }
|
---|
301 |
|
---|
302 | Wire.beginTransmission(mag_address);
|
---|
303 | Wire.write(reg);
|
---|
304 | last_status = Wire.endTransmission();
|
---|
305 | Wire.requestFrom(mag_address, (byte)1);
|
---|
306 | value = Wire.read();
|
---|
307 | Wire.endTransmission();
|
---|
308 |
|
---|
309 | return value;
|
---|
310 | }
|
---|
311 |
|
---|
312 | void LSM303::writeReg(byte reg, byte value)
|
---|
313 | {
|
---|
314 | // mag address == acc_address for LSM303D, so it doesn't really matter which one we use.
|
---|
315 | if (_device == device_D || reg < CTRL_REG1_A)
|
---|
316 | {
|
---|
317 | writeMagReg(reg, value);
|
---|
318 | }
|
---|
319 | else
|
---|
320 | {
|
---|
321 | writeAccReg(reg, value);
|
---|
322 | }
|
---|
323 | }
|
---|
324 |
|
---|
325 | // Note that this function will not work for reading TEMP_OUT_H_M and TEMP_OUT_L_M on the DLHC.
|
---|
326 | // To read those two registers, use readMagReg() instead.
|
---|
327 | byte LSM303::readReg(int reg)
|
---|
328 | {
|
---|
329 | // mag address == acc_address for LSM303D, so it doesn't really matter which one we use.
|
---|
330 | // Use readMagReg so it can translate OUT_[XYZ]_[HL]_M
|
---|
331 | if (_device == device_D || reg < CTRL_REG1_A)
|
---|
332 | {
|
---|
333 | return readMagReg(reg);
|
---|
334 | }
|
---|
335 | else
|
---|
336 | {
|
---|
337 | return readAccReg(reg);
|
---|
338 | }
|
---|
339 | }
|
---|
340 |
|
---|
341 | // Reads the 3 accelerometer channels and stores them in vector a
|
---|
342 | void LSM303::readAcc(void)
|
---|
343 | {
|
---|
344 | Wire.beginTransmission(acc_address);
|
---|
345 | // assert the MSB of the address to get the accelerometer
|
---|
346 | // to do slave-transmit subaddress updating.
|
---|
347 | Wire.write(OUT_X_L_A | (1 << 7));
|
---|
348 | last_status = Wire.endTransmission();
|
---|
349 | Wire.requestFrom(acc_address, (byte)6);
|
---|
350 |
|
---|
351 | unsigned int millis_start = millis();
|
---|
352 | while (Wire.available() < 6) {
|
---|
353 | if (io_timeout > 0 && ((unsigned int)millis() - millis_start) > io_timeout)
|
---|
354 | {
|
---|
355 | did_timeout = true;
|
---|
356 | return;
|
---|
357 | }
|
---|
358 | }
|
---|
359 |
|
---|
360 | byte xla = Wire.read();
|
---|
361 | byte xha = Wire.read();
|
---|
362 | byte yla = Wire.read();
|
---|
363 | byte yha = Wire.read();
|
---|
364 | byte zla = Wire.read();
|
---|
365 | byte zha = Wire.read();
|
---|
366 |
|
---|
367 | // combine high and low bytes
|
---|
368 | // This no longer drops the lowest 4 bits of the readings from the DLH/DLM/DLHC, which are always 0
|
---|
369 | // (12-bit resolution, left-aligned). The D has 16-bit resolution
|
---|
370 | a.x = (int16_t)(xha << 8 | xla);
|
---|
371 | a.y = (int16_t)(yha << 8 | yla);
|
---|
372 | a.z = (int16_t)(zha << 8 | zla);
|
---|
373 | }
|
---|
374 |
|
---|
375 | // Reads the 3 magnetometer channels and stores them in vector m
|
---|
376 | void LSM303::readMag(void)
|
---|
377 | {
|
---|
378 | Wire.beginTransmission(mag_address);
|
---|
379 | // If LSM303D, assert MSB to enable subaddress updating
|
---|
380 | // OUT_X_L_M comes first on D, OUT_X_H_M on others
|
---|
381 | Wire.write((_device == device_D) ? translated_regs[-OUT_X_L_M] | (1 << 7) : translated_regs[-OUT_X_H_M]);
|
---|
382 | last_status = Wire.endTransmission();
|
---|
383 | Wire.requestFrom(mag_address, (byte)6);
|
---|
384 |
|
---|
385 | unsigned int millis_start = millis();
|
---|
386 | while (Wire.available() < 6) {
|
---|
387 | if (io_timeout > 0 && ((unsigned int)millis() - millis_start) > io_timeout)
|
---|
388 | {
|
---|
389 | did_timeout = true;
|
---|
390 | return;
|
---|
391 | }
|
---|
392 | }
|
---|
393 |
|
---|
394 | byte xlm, xhm, ylm, yhm, zlm, zhm;
|
---|
395 |
|
---|
396 | if (_device == device_D)
|
---|
397 | {
|
---|
398 | // D: X_L, X_H, Y_L, Y_H, Z_L, Z_H
|
---|
399 | xlm = Wire.read();
|
---|
400 | xhm = Wire.read();
|
---|
401 | ylm = Wire.read();
|
---|
402 | yhm = Wire.read();
|
---|
403 | zlm = Wire.read();
|
---|
404 | zhm = Wire.read();
|
---|
405 | }
|
---|
406 | else
|
---|
407 | {
|
---|
408 | // DLHC, DLM, DLH: X_H, X_L...
|
---|
409 | xhm = Wire.read();
|
---|
410 | xlm = Wire.read();
|
---|
411 |
|
---|
412 | if (_device == device_DLH)
|
---|
413 | {
|
---|
414 | // DLH: ...Y_H, Y_L, Z_H, Z_L
|
---|
415 | yhm = Wire.read();
|
---|
416 | ylm = Wire.read();
|
---|
417 | zhm = Wire.read();
|
---|
418 | zlm = Wire.read();
|
---|
419 | }
|
---|
420 | else
|
---|
421 | {
|
---|
422 | // DLM, DLHC: ...Z_H, Z_L, Y_H, Y_L
|
---|
423 | zhm = Wire.read();
|
---|
424 | zlm = Wire.read();
|
---|
425 | yhm = Wire.read();
|
---|
426 | ylm = Wire.read();
|
---|
427 | }
|
---|
428 | }
|
---|
429 |
|
---|
430 | // combine high and low bytes
|
---|
431 | m.x = (int16_t)(xhm << 8 | xlm);
|
---|
432 | m.y = (int16_t)(yhm << 8 | ylm);
|
---|
433 | m.z = (int16_t)(zhm << 8 | zlm);
|
---|
434 | }
|
---|
435 |
|
---|
436 | // Reads all 6 channels of the LSM303 and stores them in the object variables
|
---|
437 | void LSM303::read(void)
|
---|
438 | {
|
---|
439 | readAcc();
|
---|
440 | readMag();
|
---|
441 | }
|
---|
442 |
|
---|
443 | /*
|
---|
444 | Returns the angular difference in the horizontal plane between a
|
---|
445 | default vector and north, in degrees.
|
---|
446 |
|
---|
447 | The default vector here is chosen to point along the surface of the
|
---|
448 | PCB, in the direction of the top of the text on the silkscreen.
|
---|
449 | This is the +X axis on the Pololu LSM303D carrier and the -Y axis on
|
---|
450 | the Pololu LSM303DLHC, LSM303DLM, and LSM303DLH carriers.
|
---|
451 | */
|
---|
452 | float LSM303::heading(void)
|
---|
453 | {
|
---|
454 | if (_device == device_D)
|
---|
455 | {
|
---|
456 | return heading((vector<int>){1, 0, 0});
|
---|
457 | }
|
---|
458 | else
|
---|
459 | {
|
---|
460 | return heading((vector<int>){0, -1, 0});
|
---|
461 | }
|
---|
462 | }
|
---|
463 |
|
---|
464 | void LSM303::vector_normalize(vector<float> *a)
|
---|
465 | {
|
---|
466 | float mag = sqrt(vector_dot(a, a));
|
---|
467 | a->x /= mag;
|
---|
468 | a->y /= mag;
|
---|
469 | a->z /= mag;
|
---|
470 | }
|
---|
471 |
|
---|
472 | // Private Methods //////////////////////////////////////////////////////////////
|
---|
473 |
|
---|
474 | int LSM303::testReg(byte address, regAddr reg)
|
---|
475 | {
|
---|
476 | Wire.beginTransmission(address);
|
---|
477 | Wire.write((byte)reg);
|
---|
478 | if (Wire.endTransmission() != 0)
|
---|
479 | {
|
---|
480 | return TEST_REG_ERROR;
|
---|
481 | }
|
---|
482 |
|
---|
483 | Wire.requestFrom(address, (byte)1);
|
---|
484 | if (Wire.available())
|
---|
485 | {
|
---|
486 | return Wire.read();
|
---|
487 | }
|
---|
488 | else
|
---|
489 | {
|
---|
490 | return TEST_REG_ERROR;
|
---|
491 | }
|
---|
492 | }
|
---|